New Product News
SSCNETIII Compatible MOTION CONTROLLER Q series
Taking motion control to the age of optics
Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 (standards for environmental management systems) and ISO9001(standards for quality assurance management systems)
EC97J1113
to Optics!
Taking the Various Possibilities of the Servo System
Taking motion control to new ranges with the high-speed synchronous network SSCNETIII!
MOTION CONTROLLER Qseries compatible
Introducing the SSCNETIII compatible Q173HCPU/Q172HCPU to the Motion controller Q Series! High speeds and high accuracies are attained to comply with the MELSERVO-J3 servo amplifier having the industry’s highest performance(as of March 2005). The conventional Q Series Motion controller’s functions and programming environment are incorporated. (Note) • Q173HCPU/Q172HCPU can be connected only to the SSCNETIII compatible MR-J3-B. • SSCNET(Servo System Controller NETwork) - - - -
Attain 50Mbps high-speed communication with optical communication Improved system responsiveness!
Network communication speed
The speed of exchanging data between the controller and servo amplifier has been greatly increased thereby shortening the cycle time.
Speed increased by approx. 10-fold
5.6
A173UHCPU/ Q173CPUN
50
Q173HCPU
Enhanced communication reliability!
0
10
20
30
40 50 Baud rate [Mbps]
The optical fiber cable was adopted. Overall cable length
Improved freedom to device layout! This model is compatible with long-distance wiring (Maximum overall distance: up to 50[m] (164.04[ft.] ) between stations (Note) × number of axes).
Compatible with an approx. 25-fold long distance
30
A173UHCPU/ Q173CPUN
800 (Note)
Q173HCPU
(Note): When using long distance cable: 50[m] (164.04[ft.] ) between stations × 16 axes = 800[m] (2624.67[ft.] )
0
200 (656.17)
400 (1312.34)
600 800 (1968.50) (2624.67) Distance [m(ft.) ]
Wiring is reduced by issuing the stroke limit signal and proximity dog signal via the servo amplifier. Machine wiring for SSCNETIII
Controller panel
Up to 50[m] (164.04[ft.] ) between stations* MODE RUN ERR USER BAT BOOT
POWER
MODE RUN ERR USER BAT BOOT
SSCNETIII cable PULL
PULL
PULL
USB
USB
RS-232
MR-J3-B
Amplifier panel
Machine
Amplifier panel
Machine
Amplifier panel
Enlarged view
Machine
FLS
DOG
RLS
(Note): When using long distance cable Servo external signal (FLS, RLS, DOG)
2
The wire length can be shortened
Attain high speeds and high accuracies with motion control Realized a 0.44ms operation cycle! The operation cycle has been reduced by approx. half compared to the conventional model, enabling high accuracy control with smooth commands. Command position
Command position
When operation cycle is shortened Operation cycle
Operation cycle
Reduced the entire cycle time of the system, including the servomotor! This model is compatible with the MELSERVO-J3 servo amplifier having the industry’s highest performance.
Powered up motion control Improved synchronization accuracy between multiple axes! Errors caused by synchronous encoder’s processing time or the servo’s droop pulses is automatically compensated with the phase compensation function.
262,144 pulse synchronous encoder (18-bit) is available! The synchronous operation accuracy at low speeds is greatly improved (16-fold compared to conventional model).
Simultaneous control of synchronous control and PTP positioning possible! Real mode and virtual mode combination function.
Security function to protect user’s know-how incorporated! A function to protect user programs with a password has been added.
Suitable for devices, such as spinners, with the speed control function with fixed position stop (Orientation function)!
Superior Motion controller usability Realized an integral engineering environment! This system can be combined with the MT Developer and MR Configurator.
Multiple CPU system carried over with the Q Series PLC! (Configure a system that matches the system scale.)
Easily use user programs created with the conventional Motion controller Q Series! 3
III
System Configuration Motion CPU control (Note-2) modules
PLC CPU (Note-1) /Motion CPU (Up to 4 modules) Q
Q61P-A
(H)CPU Q17
HCPU(-T)
Q172LX
Q172EX-S2
Q173PX
PLC CPU control (Note-3) modules
QI60
QX/Y
CPU base Q3 B
Peripheral device configuration For PLC CPU GX Developer Ver.6 or later (CD-ROM) SW D5C-GPPW-E USB (Note-5)/RS-232
Device configuration
For Motion CPU Operating system software (FD) SW6RN-SV Q
Motion CPU I/O (Up to 256 points) Battery holder unit Q170HBATC (Note-7) (Q6BAT has been installed)
External interrupt input (16 points) Manual pulse generator (3 modules/unit) MR-HDP01
Serial absolute synchronous encoder (2 modules/unit) Q170ENC
SSC I/F card A30CD-PCF SSCNET (Note-4)
Servo external signal (FLS,RLS,STOP,DOG/CHANGE) Ă— 8 axes
USB (Note-5) Laptop PC (WinNT/Win98/Win2000/WinXP) Integrated startup support environment
MT Developer Ver.00K or later (CD-ROM) SW6RNC-GSVPROE
MR Configurator (CD-ROM) MRZJW3-SETUP221E
Teaching unit (Note-8) A31TU-D K13
SSCNETIII (System1) SSCNETIII (System2) Servo amplifier MR-J3-B
SSCNET (Note-4)
Servomotor Q173HCPU : 2 systems (Up to 32 axes) Q172HCPU : 1 system (Up to 8 axes)
SSC I/F board A 0BD-PCF
Desktop PC (WinNT/Win98/Win2000/WinXP) Integrated startup support environment
Extension cable QC
Graphic operation terminal (GOT)
B
Extension base Q6 B (Note-6) (Up to 7 extensions)
Servo external signal (Note-9) (FLS, RLS, DOG)
USB (Note-5)
Motion CPU/PLC CPU control modules
Notes : 1. PLC CPU for Multiple CPU can be used in Q-mode. 2. Only input module among Motion CPU control modules can be accessed from PLC CPU. 3. Other CPU modules cannot be accessed from Motion CPU. 4. Only 1 PC can be connected via SSCNET. 5. USB cannot be used in WindowsNTÂŽ 4.0. 6. Motion CPU cannot control the module installed to the QA1S6 B. 7. The external battery for backup of parameter/program is required at the time of continuous power failure for 1000 hours or more. (Q6BAT is not supplied with Q170HBATC). 8. In planning stages. When using the teaching unit A31TU-D K13, please use Motion CPU for teaching unit. 9. Connecting target can be selected for each axis from general-purpose input of servo amplifier or Q172LX.
Operating system software packages Motion SFC compatible
SV13 Dedicated language
4
Conveyor assembly use
Motion SFC compatible Automatic machinery use
SV22
[Applications] Electronic component assembly, Inserter, Feeder, Molder, Conveying equipment, Paint applicator, Chip mounting, Wafer slicer, Loader/Unloader, Bonding machine, X-Y table
[Applications] Press feeder, Food processing, Food packaging, Winding machine, Spinning machine, Textile machine, Printing machine, Book binder, Tire molder, Paper-making machine
Linear interpolation (1 to 4 axes), Circular interpolation, Constant-speed, Fixed-pitch feed, Speed control with fixed position stop, Speed switching, Speed control, Speed/position switching
Synchronous control, Electronic shaft, Electronic clutch, Electronic cam, Draw control
Mechanical support language
New functions Phase compensation function When carrying out tracking synchronization with the synchronous encoder, delays in the processes, etc., cause the phase to deviate at servomotor shaft end in respect to the synchronous encoder. The phase compensation function compensates in this case so that the phase does not deviate. The phase deviation between the synchronous encoder and cam angle can be eliminated by using this for the electronic cam. Angle
Example of use with electronic cam Operate a cutter with the electronic cam in synchronization with the conveyor speed
Synchronous encoder angle
Servomotor
Cam angle
Time
Phase deviates between synchronous encoder and electronic cam.
P1
Phase compensation Angle Synchronous encoder angle
Synchronous encoder
1-axis Cam angle Electronic cam (Servomotor)
Mechanical system program
Time
Phase deviation is eliminated, and phases are completely synchronized.
Speed control function with fixed position stop (Orientation function) The servomotor can be rotated at preset speed and then stopped at preset position after the stop command ON. Not only the speed but also acceleration/deceleration time can be changed to an optional value while operating. Value changed with speed change request command
v
b
a
Rotates at a fixed speed
c
t
d
Fixed position stop acceleration/deceleration time ON
Servo program start
OFF
Speed change request command
OFF
Fixed position stop command
OFF
ON
Stop at preset position
ON
Servomotor Fixed position stop acceleration /deceleration time (Indirect setting device)
a
b
c
d
Combination with MR Configurator Communication between the MR Configurator (setup software) and servo amplifier via Motion controller is possible. Multiple servo amplifiers can be adjusted just by connecting between the personal computer and Motion controller with a cable. Q173HCPU/Q172HCPU MODE RUN ERR USER BAT BOOT
POWER
Click on the icon! PULL
PULL
Start MR Configurator by clicking the MR Developer icon
MODE RUN ERR USER BAT BOOT
PULL
USB
USB
RS-232
Select the required number of axes and display as a list.
Cables do not need to be reconnected
MR-J3-B
MR Configurator Data write Data read
5
III
Programming environment Motion SFC monitor
Servo parameter setting
Color indication of executing step on flow chart Device monitor and test of execution/specification step
Direct start of MT Developer in the parameter setting screen
Monitor/Test
Digital oscilloscope
Current value monitor/Axis monitor/Error history monitor Various tests such as home position return/JOG operation by clicking mouse
Data sampling synchronized with motion control cycle Waveform display/Dump display/Fail saving/Printing
Software packages Software
Model name Q173HCPU(-T) Q172HCPU(-T)
Application Conveyor assembly use SV13 Automatic machinery use SV22 Conveyor assembly use SV13
Operating system software
Programming software
Automatic machinery use SV22 Digital oscilloscope use
SW6RN-SV13QK SW6RN-SV13QM SW6RN-SV22QJ SW6RN-SV22QL SW6RN-GSV13P SW6RN-GSV22P SW3RN-CAMP SW6RN-DOSCP
Note – Included in the "Integrated start-up support software".
Integrated start-up support software configration Model name
Details • Conveyor assembly software • Automatic machinery software • Cam data creation software • Digital oscilloscope software • Communication system software • Document print software
SW6RNC-GSVE (Ver.00K or later) [1 CD-ROM]
SW6RN-GSVPROE MT Developer
SW6RNC-GSVHELPE (Operation manual [1 CD-ROM] ) Installation manual SW6RNC-GSVPROE A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card) ) Q170CDCBL3M (A30CD-PCF cable 3m(9.84ft.) )
SW6RNC-GSVSETE
Operating environment
IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operated normally.
ÂŽ
Item CPU Memory capacity Hard disk free space
WindowsNT 4.0 (Service Pack 2 or later) ÂŽ or Windows 98 Recommended PentiumÂŽ 133MHz or more Recommended 32MB or more
ÂŽ
ÂŽ
Windows 2000 Recommended PentiumÂŽ
233MHz or more
Recommended 64MB or more
Windows XP Recommended PentiumÂŽ
450MHz or more
Recommended 192MB or more
SW6RNC-GSVE: 250MB + SW6RNC-GSVHELPE: 81MB (Possible to select installation) SVGA (Resolution 800 ✕ 600 pixels, 256 colors) or more
Display Application software
: SW6RN-GSV13P : SW6RN-GSV22P : SW3RN-CAMP : SW6RN-DOSCP : SW6RN-SNETP : SW3RN-DOCPRNP SW20RN-DOCPRNP
Word 97, Excel 97 or Word 2000, Excel 2000 (For document printing) Visual C++ 4.0 or more, Visual Basic 4.03 (32 bit) or more (For communication API function) ÂŽ
(Note) • When using the A30CD-PCF, the PC card driver for WindowsNT provided by the personal computer manufacturer must be used. Ž Ž • WindowsNT , Windows , Word, Excel, Visual C++ and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Ž • Pentium is trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries.
6
Motion control specifications Item
Motion SFC Performance Specifications
Q172HCPU(-T)
Q173HCPU(-T)
8 axes
Number of control axes 32 axes (Up to 16 axes/system) Operation cycle
0.44~ Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Interpolation functions Helical interpolation (3 axes) PTP (Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Constant speed control, Position follow-up control, Control modes Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22)
Item Motion SFC program capacity
Q173HCPU(-T) / Q172HCPU(-T)
Code total (Motion SFC chart + Operation control + Transition) Text total (Operation control+ Transition) Number of Motion SFC programs Motion SFC chart size/program
Motion SFC program
Up to 4094 steps
Number of selective branches/branch
255
Parallel branch nesting Number of operation control programs
Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22) 14k steps
Number of positioning points
3200 points (Positioning data can be designated indirectly) IBM PC/AT
Programming tool
USB/SSCNET
Peripheral I/F Teaching operation function Home position return function
Number of transition programs Operation control program (F/FS) / Transition program(G)
Provided (Q17 HCPU-T, SV13 use) Proximity dog (2 types), Count (3 types), Data set (2 types), Dog cradle, Stopper (2 types), Limit switch combined
Provided JOG operation function Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function (SV22 use) (SV22 use) M-code output/M-code completion wait function provided M-code function Number of output points 32 points Limit switch output Watch data: Motion control data/Word device function Made compatible by setting battery to servo amplifier. (Possible to Absolute position select the absolute data method or incremental method for each axis) system Number of SSCNETIII 2 systems 1 system systems (Note-1) Number of usable Q172LX : 1 module Q172LX : 4 modules motion related Q172EX-S2 : 4 modules Q172EX-S2 : 6 modules interface modules Q173PX : 3 modules(Note-2) Q173PX : 4 modules(Note-2) (Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the manual pulse generator, you can use only 1 module.
256 (No.0 to 255) Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program Number of parallel branches/branch
Automatic trapezoidal acceleration/deceleration, Acceleration/ S-curve acceleration/deceleration deceleration processing Compensation function Backlash compensation, Electronic gear, Phase compensation (SV22) Servo program capacity
543k bytes 484k bytes
255 Up to 4 levels 4096 (F/FS0 to F/FS4095) with F(Once execution type) and FS(Scan execution type) combined. 4096 (G0 to G4095)
Code size/program Number of blocks(line)/program
Up to approx. 64k bytes (32766 steps) Up to 8192 blocks (in the case of 4 steps(min)/blocks)
( ) nesting/block Descriptive Expression
Operation control program Transition program
Number of multi executed programs
Up to 32 Calculation expression/bit conditional expression Calculation expression/bit conditional expression/comparison conditional expression Up to 256
Number of multi active steps Normal task Execute specification
Executed task
Event task Fixed cycle (Execution External can be interrupt masked.) PLC interrupt NMI task
Number of I/O points (X/Y)
Up to 256 steps/all programs Executed in motion main cycle Executed in fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms) Executed when input ON is set among interrupt module QI60 (16 points). Executed with interrupt (GINT) from PLC CPU. Executed when input ON is set among interrupt module QI60 (16 points). 8192 points
Number of real I/O points (PX/PY) • Internal relays(M), Latch relays: Total 8192 points • Link relays (B) 8192 points Number of devices • Annunciators (F) 2048 points • Special relays (M) 256 points • Data registers (D) 8192 points
256 points • Link registers(W) 8192 points • Special registers (D) 256 points • Motion registers (#) 8192 points • Coasting timers (FT) 1 point (888µs)
Motion related module specifications Part name
Model name
Description
Use with Q PLC
Up to 32 axes control, Operation cycle 0.4[ms]~ Up to 8 axes control, Operation cycle 0.4[ms]~ Up to 32 axes control, Operation cycle 0.4[ms]~, For teaching unit Up to 8 axes control, Operation cycle 0.4[ms]~, For teaching unit Program capacity 8k steps Program capacity 14k steps Program capacity 28k steps Program capacity 28k steps Program capacity 60k steps Program capacity 124k steps Program capacity 252k steps Power supply + CPU + 3 I/O slots, For Q series modules Power supply + CPU + 5 I/O slots, For Q series modules Power supply + CPU + 8 I/O slots, For Q series modules Power supply + CPU + 12 I/O slots, For Q series modules Power supply + 3 I/O slots, For Q series modules Power supply + 5 I/O slots, For Q series modules Power supply + 8 I/O slots, For Q series modules Power supply + 12 I/O slots, For Q series modules Length 0.45m(1.48ft.), 0.6m(1.97ft.), 1.2m(3.94ft.), 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) 100 to 120VAC input/ 5VDC 6A output 200 to 240VAC input/ 5VDC 6A output 100 to 240VAC input/ 5VDC 3A/ 24VDC 0.6A output 24VDC input/ 5VDC 6A output 100 to 120VAC/200 to 240VAC input/ 5VDC 8.5A output Servo external signal 8 axes (FLS, RLS, STOP, DOG/CHANGE×8) Serial absolute synchronous encoder Q170ENC interface×2, Tracking input 2 points (A6BAT built-in) Manual pulse generator MR-HDP01/Incremental synchronous encoder interface×3, Tracking input 3 points Resolution: 262144PLS/rev, Permitted speed: 3600r/min Serial absolute synchronous encoder Q170ENC Permitted axial loads [Radial load: Up to 19.6N, Thrust load: Up to 9.8N] Serial absolute synchronous encoder cable (Note-3) Q170ENC ↔ Q172EX-S2 2m, 5m, 10m, 20m, 30m, 50m Q170ENCCBL M Battery holder unit Battery holder for Q6BAT (Attachment: battery cable) Q170HBATC (Note-2) For IC-RAM memory backup of Q17 HCPU(-T) module (SFC programs, Servo programs, Parameters) Q6BAT Battery For backup of Q170ENC A6BAT Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4), Permitted speed: 200r/min(Normal rotation) Manual pulse generator MR-HDP01 Permitted axial loads [Radial load: Up to 19.6N, Thrust load: Up to 9.8N], Open collector output Standard code for inside panel MR-J3BUS M • Q17 HCPU(-T) ↔ MR-J3- B 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.) SSCNETIII cable (Note-3) • MR-J3- B ↔ MR-J3- B MR-J3BUS M-A Standard cable for outside panel 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.) Long distance cable 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.) MR-J3BUS M-B (Note-4) PCI bus loading type, 2ch/board A10BD-PCF SSC I/F board ISA bus loading type, 2ch/board A30BD-PCF SSC I/F card PCMCIA TYPE II, 1ch/card A30CD-PCF Cable for SSC I/F board (Note-3) Q17 HCPU(-T) ↔ SSC I/F board 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) Q170BDCBL M Cable for SSC I/F card (Note-3) Q17 HCPU(-T) ↔ SSC I/F card 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) Q170CDCBL M For SV13, With 3-position deadman switch, Only Japanese A31TU-D3K13 Teaching unit (Note-5) For SV13, Without deadman switch, Only Japanese A31TU-DNK13 Q17 HCPU-T ↔ A31TU-D3K13, 3m(9.84ft.) Q170TUD3CBL3M (Attachment : short-circuit connector (A31TUD3TM) for teaching unit) Cable for the teaching unit Q17 HCPU-T ↔ A31TU-DNK13, 3m(9.84ft.) Q170TUDNCBL3M Q170TUDNCBL03M-A Exchange cable for direct connection of Q17 HCPU-T ↔ A31TU-DNK13, 0.3m(0.98ft.) For direct connection to Q17 HCPU-T, It is packed together with Q17 HCPU-T. Q170TUTM Short-circuit connector for teaching unit For connection to Q170TUD CBL3M, It is packed together with Q170TUD CBL3M. A31TUD3TM (Note-1) : Please use the power supply module within the range of power supply capacity. (Note-2) : Battery Q6BAT is not attached to Battery holder unit Q170HBATC. Please arrange separately. (Note-3) : =Cable length (015: 0.15m(0.49ft.), 0: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 30: 30m(98.43ft.), 40: 40m(131.23ft.), 50: 50m(164.04ft.)) (Note-4) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.). (Note-5) : In planning stages. Q173HCPU Q172HCPU Motion CPU module Q173HCPU-T Q172HCPU-T Q00CPU Q01CPU Q02CPU PLC CPU module Q02HCPU Q06HCPU Q12HCPU Q25HCPU Q33B Q35B CPU base unit Q38B Q312B Q63B Q65B Extension base unit Q68B Q612B Extension cable QC B Q61P-A1 Q61P-A2 (Note-1) Power supply module Q62P Q63P Q64P Servo external signals interface module Q172LX Serial absolute synchronous encoder interface module Q172EX-S2 Manual pulse generator interface module Q173PX
7
MOTION CONTROLLERS Q series –SSCNETIII Compatible– Exterior dimensions Q173HCPU (-T)
Q172HCPU (-T) Q173HCPU-T
Q172HCPU-T
MODE RUN ERR. M.RUN BAT. BOOT
MODE RUN ERR. M.RUN BAT. BOOT
FRONT
FRONT
SSCNETIII
CN2
TU
PULL
BAT CN1 PC
TU PULL
USB
27.4(1.08)
114.3(4.50)
USB
Q172LX
27.4(1.08)
114.3(4.50)
[Unit : mm(inch)]
Q172EX-S2 Q172LX
[Unit : mm(inch)]
Q173PX Q173PX
Q172EX-S2
PLS.A PLS.B TREN 1 1 1 2 2 2 3 3 3
SY.ENC TREN 1 1 2 2
CTRL
98(3.86)
98(3.86)
SY.ENC1
PULSER
98(3.86)
PC
104.6(4.12)
BAT
104.6(4.12)
SSCNETIII CN1
SY.ENC2
Q172LX
90(3.14)
Q173PX
Q172EX
27.4(1.08)
[Unit : mm(inch)]
90(3.14)
27.4(1.08)
[Unit : mm(inch)]
90(3.14)
27.4(1.08)
[Unit : mm(inch)]
For safe use • To use the products given in this catalog properly, always read the “manuals” before starting to use them. • These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. • Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. • These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. • When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.
Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.
HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
SV0503-2 <MDOC>
New publication, effective March 2005 Specifications subject to change without notice.